DE102015217783B4 - Improved lane assist - Google Patents

Abstract

The present invention relates to a method and a device for assisting a driver in the lateral guidance of the vehicle.A method according to the invention for a lane assistance function for warning a driver in a situation-appropriate manner when the vehicle leaves the lane and/or drifting out of the lane is predicted, comprising at leasta) an environment detection system directed in the direction of the driving trajectory ahead, andb) an optical detection system located inside the vehicle, designed for an eye-tracking function of the driver, is characterized in thatc) whenever the vehicle leaves the lane and/or drifting out of the lane is predicted,d) a signal is output to assist and/or warn the driver, wherebye) however, in deviation from this, no signal is output to assist and/or warn the driver whenf) the vehicle leaves the lane and/or drifting out of the lane is predicted, andg) in a temporal connection with this event, a possible reason for the departure and/or predicted drifting from the lane is determined, and h) the eye tracking function detects that the driver has directed his gaze in the direction in which the vehicle is leaving the lane and/or drifting from the lane is predicted.

Description

Field of the invention:

The present invention relates to a driver assistance system for assisting a vehicle driver in the lateral guidance of the vehicle.

Modern vehicles are increasingly being equipped with driver assistance systems that sense the environment as standard. Camera-based systems such as optical parking aids, 360-degree panoramic view applications, lane departure warning (LDW) and the like are now state of the art.

As the development trend further shows, the number of driver assistance systems will continue to increase in order to be able to offer the driver the best possible support and to improve driving comfort.

With new driver assistance systems constantly being introduced, which are "very interesting" for vehicle users during the market launch phase, there is also a great danger that the driver will feel more and more patronized in the long run if these assistance systems "constantly know better" or issue warning messages.

This is especially true when the assistance system issues a warning message when it is not appropriate at all.

The sensitivities of the drivers must be taken into account very carefully here.

1. a) eine Warnmeldung nicht zu früh erfolgt / generiert wird, aber
2. b) eine Warnmeldung auch nicht zu spät erfolgt / generiert wird, wobei
3. c) der Übergangsbereich / Graubereich oftmals sehr schmal ist.

When implementing such systems, special attention must be paid to achieving customer acceptance,

1. a) a warning message is not given/generated too early, but
2. b) a warning message is not generated too late, whereby
3. c) the transition area / grey area is often very narrow.

If the warning is given too early, the driver can easily feel patronized or bothered by the assistance system (the system is rejected due to a "malfunction"). If the warning is given too late, the functionality of the assistance system can easily be called into question, even leading to claims for compensation if an accident occurs and the assistance system did not warn correctly.

From the Scripture WO 2007/145566 A1 A generic assistance system or method for an assistance system is known in which a supporting driver assistance system is revealed by means of eye tracking (observation of the driver's eyes using an interior camera) and consideration of other criteria.

A disadvantage of this solution can be seen in the fact that this assistance system, or method for an assistance system according to the document WO 2007/145566 A1 is susceptible to interference, or the results are subject to a certain degree of uncertainty, so that it can easily lead (as described above) to the assistance system issuing or suppressing a warning message when this is not appropriate at all.

The writing DE 10 2009 041 187 A1 shows a method for adapting one or more parameters of a driver assistance system that supports the driver of a motor vehicle, wherein the parameters to be set are a function of the driver's state as detected by the driver assistance system. The driver's current line of sight is detected by a gaze detection device. The length of time during which the driver is not looking at the road is determined from the current line of sight. The parameter(s) of the driver assistance system are adapted if the determined length of time exceeds a critical time value.

From the publication DE 102005018697 A1 A method and a device for warning drivers in the event of lane departure is known. A first evaluation unit detects a vehicle leaving a lane on the basis of image information and/or vehicle data and/or driver activity.

The object of the invention is to present a solution which is robust against the issuing of incorrect warning messages or the suppression of required warning messages, and thus prevents vehicle drivers from becoming permanently fed up with such systems.

Solution to the task:

This object is achieved by means of a method according to claim 1 or a lane assistance device according to claim 2. This solution is perceived by vehicle drivers as a useful assistance system/lane assistance function and should therefore achieve corresponding customer acceptance.

1. a) neben den klassischen Parametern (werden später zur 1 noch näher erläutert) gemäß dem Stand der Technik,
2. b) zusätzlich das Ergebnis eines „Eye-Tracking“ in der in 2 beschriebene / dargestellten Art und Weise (abgeänderten Logik) berücksichtigt wird.

In order to be able to better classify this narrow transition area / grey area in terms of system technology, or to be able to make the right decision on the system side as to whether a warning message is already required or not, the following considerations are considered as a starting point, namely that

1. a) in addition to the classical parameters (will be used later for 1 explained in more detail below) according to the state of the art,
2. b) in addition, the result of an “eye tracking” in the 2 described / presented manner (modified logic).

1. a) ein in Richtung der vorausliegenden Fahrtrajektorie gerichtetes Umgebungserfassungssystem, und
2. b) ein im inneren des Fahrzeuges befindliches optisches Erfassungssystem, ausgebildet für eine Eye-Tracking-Funktion des Fahrzeugführers, zeichnet sich dadurch aus, dass
3. c) immer dann, wenn das Fahrzeug von der Fahrspur abkommt und/oder ein Abdriften von der Fahrspur prädiziert wird,
4. d) ein Signal ausgegeben wird zur Unterstützung und/oder Warnung an den Fahrzeugführer, wobei
5. e) jedoch abweichend hiervon immer dann kein Signal zur Unterstützung und/oder Warnung an den Fahrer ausgegeben wird, wenn
6. f) das Fahrzeug von der Fahrspur abkommt und/oder ein Abdriften von der Fahrspur prädiziert wird, und
7. g) zu diesem Ereignis in einem zeitlichen Zusammenhang stehend ein möglicher Grund für das Abkommen und/oder prädizierten Abdriften von der Fahrspur ermittelt wird,

sowie

• h) mit der Eye-Tracking-Funktion erfasst wird, dass der Fahrer seinen Blick in die Richtung gelenkt hat, in der das Fahrzeug von der Fahrspur abkommt und/oder ein Abdriften von der Fahrspur prädiziert wird.

A method according to the invention for a lane assistance function for warning a driver in a situation-appropriate manner when the vehicle leaves the lane and/or drifting from the lane is predicted, comprising at least

1. a) an environment detection system directed in the direction of the forward driving trajectory, and
2. b) an optical detection system located inside the vehicle, designed for an eye-tracking function of the driver, is characterized in that
3. c) whenever the vehicle deviates from the lane and/or drifting from the lane is predicted,
4. d) a signal is issued to assist and/or warn the driver, whereby
5. e) however, in deviation from this, no signal for assistance and/or warning is given to the driver when
6. f) the vehicle is drifting out of the lane and/or drifting out of the lane is predicted, and
7. g) a possible reason for the departure and/or predicted drifting out of the lane is determined in a temporal connection with this event,

as well as

• h) the eye-tracking function detects that the driver has directed his gaze in the direction in which the vehicle is leaving the lane and/or that drifting out of the lane is predicted.

The term eye tracking is used by experts to describe a process in which one or more cameras are used to record the direction in which the driver is looking.

• - aus einer große Geschwindigkeitsreduzierung und/oder einer Lenkdrehmomenteinbringung des Fahrers;
• - aus dem Vorliegen einer streckenrelevanten TCM-Unfall-Meldung und/oder einer Car-to-X-Unfall-Meldung; und/oder
• - aus der Erkennung eines streckenrelevanten Hindernisses von dem in Fahrtrichtung gerichtetem Umgebungserfassungssystem oder einem zusätzlichen Umgebungserfassungssystem zur Hinderniserkennung, insbesondere einem Radar- oder Lidarsensorsystem.

A possible reason for the departure and/or predicted drifting from the lane can be determined according to advantageous embodiments of the invention:

• - from a large reduction in speed and/or a steering torque input by the driver;
• - from the existence of a route-relevant TCM accident report and/or a Car-to-X accident report; and/or
• - from the detection of a route-relevant obstacle by the environmental detection system directed in the direction of travel or an additional environmental detection system for obstacle detection, in particular a radar or lidar sensor system.

According to the invention, the method is characterized in that the large speed reduction and/or a steering torque input is only used and taken into account as a criterion if this action(s) has/have been initiated by the vehicle driver.

According to the invention, the method is characterized in that an existing route-relevant TCM accident report and/or c2x accident report is only used and taken into account as a criterion if it corresponds to the route section currently being traveled by the vehicle.

According to the invention, the method is characterized in that a route-relevant obstacle detected by the environmental detection system directed in the direction of travel is only used and taken into account as a criterion if the original travel trajectory would represent a collision course with respect to the obstacle.

Another object of the invention is a lane assistance device for warning a driver in a situation-appropriate manner of a departure and/or predicted drifting of the vehicle from the lane.

1. a) ein in Richtung der vorausliegenden Fahrtrajektorie gerichtetes Umgebungserfassungssystem, und
2. b) ein im Inneren des Fahrzeuges befindliches optisches Erfassungssystem, ausgebildet für eine Eye-Tracking-Funktion des Fahrzeugführers, sowie
3. c) eine Auswerteeinrichtung zur Auswertung von Daten des Umgebungserfassungssystems, des im Inneren befindlichen optischen Erfassungssystems, von Fahrzeugsensordaten, von TCM-Daten, von Car-to-X-Daten und/oder von zusätzlichen Umgebungserfassungssystemen,

kennzeichnet sich dadurch, dass
die Auswerteinrichtung dazu ausgebildet ist,

• d) immer dann, wenn das Fahrzeug von der Fahrspur abkommt und/oder ein Abdriften von der Fahrspur prädiziert wird,
• e) ein Signal zur Unterstützung und/oder Warnung an den Fahrzeugführer auszugeben, wobei
• f) jedoch abweichend hiervon immer dann kein Signal zur Unterstützung und/oder Warnung an den Fahrzeugführer auszugeben, wenn
• g) das Fahrzeug von der Fahrspur abkommt und/oder ein Abdriften von der Fahrspur prädiziert wird, und
• h) zu diesem Ereignis in einem zeitlichen Zusammenhang stehend ein möglicher Grund für das Abkommen und/oder prädizierten Abdriften von der Fahrspur ermittelt wird,

sowie
mit der Eye-Tracking-Funktion erfasst wird, dass der Fahrer seinen Blick in die Richtung gelenkt hat, in dieser das Fahrzeug von der Fahrspur abkommt und/oder ein Abdriften von der Fahrspur prädiziert wird.The lane assistance device for the situation-appropriate warning of a driver of a departure and/or predicted drifting of the vehicle from the lane, comprising at least

1. a) an environment detection system directed in the direction of the forward driving trajectory, and
2. b) an optical detection system located inside the vehicle, designed for an eye-tracking function of the driver, and
3. c) an evaluation device for evaluating data from the environmental detection system, the internal optical detection system, vehicle sensor data, TCM data, car-to-X data and/or additional environmental detection systems,

is characterized by the fact that
the evaluation device is designed to

• d) whenever the vehicle deviates from the lane and/or drifting from the lane is predicted,
• (e) to issue a signal of assistance and/or warning to the driver, whereby
• (f) however, not to issue a signal to assist and/or warn the driver when
• g) the vehicle is drifting out of the lane and/or drifting out of the lane is predicted, and
• h) a possible reason for the departure and/or predicted drifting out of the lane is determined in a temporal connection with this event,

as well as
The eye-tracking function detects that the driver has directed his gaze in the direction in which the vehicle is leaving the lane and/or that drifting out of the lane is predicted.

Vehicle sensor data includes, in particular, brake pedal positions from which a large reduction in speed and/or steering wheel movements from which a steering torque input by the driver is detected and evaluated by the evaluation device.

Furthermore, the invention comprises a motor vehicle provided with such a lane assistance device.

Further advantages, features and possible applications of the present invention will become apparent from the following description in conjunction with the 1 and 2 illustrated embodiments. All described and/or illustrated features, either individually or in any combination, form the subject matter or method of the present invention, regardless of their summary in the claims or their references.

• 1: Eine Prinzip-Darstellung eines Flussdiagrammes, eines Verfahrens für eine LDW-Funktion gemäß dem Stand der Technik.
• 2: Eine Prinzip-Darstellung eines Flussdiagrammes, zur Realisierung des erfindungsgemäßen Verfahrens.

They show:

• 1 : A principle representation of a flow chart of a method for an LDW function according to the state of the art.
• 2 : A principle representation of a flow chart for the realization of the method according to the invention.

In the 1 and 2 A vehicle with an LDW system is required, which has the necessary (not shown in detail) various communication interfaces/devices, as well as the components mentioned in the description.

The 1 shows a principle representation of a flow chart of a method for an LDW function according to the state of the art.

• Erkennt ein LDW-System (10), dass das Fahrzeug von der Fahrbahn abkommt (abzukommen droht) , bzw. eine Begrenzungslinie überfährt (zeitnah überfahren wird) in Schritt S1, so erfolgt die Entscheidung, ob ein Signal ausgegeben wird (Schritt S6) oder nicht (Schritt S7) anhand mehrerer Parameter, wobei die Parameter als Indiz dafür gewertet werden, dass das Verlassen der Fahrbahn (z.B. rechts zur Seite fahren, um auszuweichen ODER links ausscheren, um zu überholen - jeweils ohne Blinker) beabsichtigt sein könnte.

As from the 1 As can be seen, the functionality is as follows:

• If an LDW system (10) detects that the vehicle is leaving the road (is in danger of leaving) or is crossing a boundary line (is about to be crossed) in step S1, the decision is made as to whether a signal is issued (step S6) or not (step S7) based on several parameters, whereby the parameters are interpreted as an indication that leaving the road (e.g. moving to the right to avoid an obstacle OR moving to the left to overtake - in each case without indicator) could be intentional.

If it is detected or indicated that the departure from the roadway / crossing of a boundary line could be intentional, no warning signal is issued, as the driver obviously wants to drive along this trajectory intentionally and would only be "disturbed" by a warning message.

1. a) Wenn ein Fahrzeug schnell abgebremst wird (große Geschwindigkeitsreduzierung), so ist dies als Indiz zu werten, dass der Fahrzeugführer bereits auf eine erkannte Situation reagiert (Schritt S2, 1. Alternative).
2. b) Dasselbe trifft zu, wenn der Fahrzeugführer ein Lenkdrehmoment einbringt (Schritt S2, 2. Alternative).
3. c) Wenn zur befahrenen Route streckenrelevante (TCM-)Unfallmeldungen vorliegen (Schritt S3, 1. Alternative).
4. d) Wenn zur befahrenen Route streckenrelevante Car-to-X Unfallmeldungen vorliegen (Schritt S3, 2. Alternative).
5. e) Wenn vom Fahrbahnüberwachungssystem (also dem Umgebungserfassungssystem, das das Halten der Spur überwacht oder von einem zusätzlichen Umgebungserfassungssystem, z.B. Radar/Lidar) ein Hindernis erkannt wurde (Schritt S4) .
6. f) Wenn der Fahrer in die Richtung blickt, in dieser das Fahrzeug die Fahrspur verlässt, bzw. eine Begrenzungslinie überfährt (Schritt S5).

The following parameters can be considered as an indication of an intentional lane departure, whereby these are known as state of the art in the corresponding logical connection shown.

1. a) If a vehicle is braked quickly (large reduction in speed), this is to be regarded as an indication that the driver is already reacting to a recognized situation (step S2, 1st alternative).
2. b) The same applies if the driver applies a steering torque (step S2, 2nd alternative).
3. c) If there are route-relevant (TCM) accident reports for the route travelled (step S3, 1st alternative).
4. d) If there are Car-to-X accident reports relevant to the route travelled (step S3, 2nd alternative).
5. e) If an obstacle has been detected by the lane monitoring system (i.e. the environmental detection system that monitors lane keeping or by an additional environmental detection system, e.g. radar/lidar) (step S4).
6. f) When the driver looks in the direction in which the vehicle leaves the lane or crosses a lane marking (step S5).

As from the 1 As can be seen further, the LDW system according to the prior art does not output a signal in step S7 if at least one of the aforementioned indicators is evaluated positively (with Y=YES), whereas a hazard warning is output if all of the aforementioned indicators are evaluated negatively (with N=NO).

A disadvantage of this solution can be seen in the fact that this assistance system, or method for an assistance system according to the state of the art, is susceptible to failure, or the results are subject to a certain degree of uncertainty, so that it can easily lead (as described above) to the assistance system issuing or suppressing a warning message when it is not appropriate at all.

The 2 shows a principle representation of a flow chart for realizing a method according to the invention in a vehicle with an improved LDW system (20).

Deviating from the 1 , is in the inventive solution according to 2 , the logic of the parameters to be taken into account is modified in such a way that at least two criteria must be met so that the LDW system does not issue a warning message (step S7).

• Erkennt das LDW-System, dass das Fahrzeug von der Fahrbahn abkommt (abzukommen droht), bzw. eine Begrenzungslinie überfährt (zeitnah überfahren wird) in Schritt S1, so erfolgt die Entscheidung, ob ein Signal ausgegeben wird (Schritt S6) oder nicht (Schritt S7) anhand mehrerer Parameter, wobei die Parameter als Indiz dafür gewertet werden, dass das Verlassen der Fahrbahn (z.B. rechts zur Seite fahren, um auszuweichen ODER links ausscheren, um zu überholen - jeweils ohne Blinker) beabsichtigt sein könnte.

As from the 2 As can be seen, the functionality is as follows:

• If the LDW system detects that the vehicle is leaving the road (threatening to leave) or crossing a boundary line (will cross it shortly) in step S1, the decision is made as to whether a signal is issued (step S6) or not (step S7) based on several parameters, whereby the parameters are interpreted as an indication that leaving the road (e.g. moving to the right to avoid an obstacle OR moving to the left to overtake - in each case without indicator) could be intentional.

If it is detected or determined as an indication that leaving the roadway / crossing a boundary line could be intentional, no signal is issued (step S7), since the driver obviously wants to drive along this trajectory intentionally and would only be "disturbed" by a warning message.

1. a) Wenn ein Fahrzeug schnell abgebremst wird (große Geschwindigkeitsreduzierung), so ist dies als Indiz zu werten, dass der Fahrzeugführer bereits auf eine erkannte Situation reagiert (Schritt S2, 1. Alternative).
2. b) Dasselbe trifft zu, wenn der Fahrzeugführer ein Lenkdrehmoment einbringt (Schritt S2, 2. Alternative).
3. c) Wenn zur befahrenen Route streckenrelevante (TCM-)Unfallmeldungen vorliegen (Schritt S3, 1. Alternative).
4. d) Wenn zur befahrenen Route streckenrelevante car-to-x Unfallmeldungen vorliegen (Schritt S3, 2. Alternative).
5. e) Wenn vom Fahrbahnüberwachungssystem ein Hindernis erkannt wurde (Schritt S4).

As already mentioned in 1 shown, can be prepared according to the inventive method according to 2 The following parameters can also be considered as an indication of an intentional lane departure (only in combination with each other), whereby these are new and inventive in the corresponding logical connection shown.

1. a) If a vehicle is braked quickly (large reduction in speed), this is to be regarded as an indication that the driver is already reacting to a recognized situation (step S2, 1st alternative).
2. b) The same applies if the driver applies a steering torque (step S2, 2nd alternative).
3. c) If there are route-relevant (TCM) accident reports for the route travelled (step S3, 1st alternative).
4. d) If there are car-to-x accident reports relevant to the route travelled (step S3, 2nd alternative).
5. e) If an obstacle has been detected by the road monitoring system (step S4).

• f) Wenn der Fahrer in die Richtung blickt, in dieser das Fahrzeug die Fahrspur verlässt / zu verlassen droht, bzw. eine Begrenzungslinie überfährt / prognostiziert überfährt (Schritt S50).

Deviating from the state of the art, the following criterion must be met as an additional criterion (AND operation; no OR operation as in the state of the art) to one of the previous / above-mentioned criteria so that the LDW system becomes temporarily "inactive" (does not issue a warning message).

• f) When the driver looks in the direction in which the vehicle is leaving the lane / is about to leave it or is crossing / is predicted to cross a lane marking (step S50).

As from the 2 As can be seen further below, the LDW system does not output a signal (step S7) if at least two of the aforementioned indicators are evaluated positively (with Y=YES), whereas a hazard warning is always output if only one of the aforementioned indicators is evaluated positively (with Y=YES).

1. a) Eine „UND-Verknüpfung“ (Kombination) der Bewertungskriterien wie in der beigefügten 2 gezeigt, trägt wesentlich zur Steigerung der Robustheit hinsichtlich der Entscheidungssicherheit / Grad der Entscheidungssicherheit bei.
2. b) Eine Unterdrückung einer Warnmeldung erfolgt nur dann, wenn mindestens 2 bestimmte der genannten Kriterien zutreffen.
3. c) Durch die vorgeschlagene Kombination kann sichergestellt werden, dass eine Unterdrückung einer erforderlichen Warnmeldung nicht versehentlich mit einem zufällig auf die Fahrbahn gerichteten geistesabwesenden Blick des Fahrers erfolgen kann.
4. d) Die Qualität der Entscheidungssicherheit wird hierbei gegenüber dem Stand der Technik deutlich erhöht.

From this (according to the inventive concept of 2 ) resulting benefit(s):

1. a) An “AND” (combination) of the evaluation criteria as set out in the attached 2 shown, contributes significantly to increasing the robustness with regard to decision certainty / degree of decision certainty.
2. b) A warning message will only be suppressed if at least two of the above criteria apply.
3. (c) The proposed combination ensures that a required warning message cannot be inadvertently suppressed by the driver's absent-minded glance at the road.
4. d) The quality of decision-making security is significantly increased compared to the state of the art.

Note:

The term or statement used in the descriptions, “driver looks absent-mindedly (apathetic) at the road”, is an ambiguous indication.

In the following, a comparison of the present invention with the prior art is given.

The method/solution concept according to the invention achieves an improvement over the prior art, since faulty functioning is prevented and the degree of decision reliability of an LDW system is significantly increased.

First, a situation is assumed in which the vehicle drifts or leaves the lane and that the driver looks absentmindedly (apathetically / randomly) at the road / current driving trajectory ahead.

1. a) Es wird angenommen, dass EIN Hindernis bzw. EINE Warnmeldung bzgl. eines Hindernisses für den aktuell befahrenen Streckenabschnitt vorliegt, oder
2. b) Es wird angenommen, dass KEIN Hindernis bzw. KEINE Warnmeldung bzgl. eines Hindernisses für den aktuell befahrenen Streckenabschnitt vorliegt.

Two cases are then distinguished:

1. a) It is assumed that there is ONE obstacle or ONE warning message regarding an obstacle for the currently travelled section of the route, or
2. b) It is assumed that there is NO obstacle or NO warning message regarding an obstacle for the section of the route currently being traveled.

In systems according to the state of the art, malfunctions can easily occur in case b), as a warning message is always suppressed if the driver accidentally/absentmindedly focuses his gaze on the current road trajectory and drifts off the road, even if there is NO obstacle or NO warning message regarding an obstacle for the section of road currently being driven on. In this case, a warning message should not be suppressed, as this is a real danger.

Suppression of a warning message is only permissible if the driver accidentally/absentmindedly focuses his gaze on the current road trajectory and drifts off the road, and there is ONE obstacle or ONE warning message regarding an obstacle for the section of road currently being driven on, since in this case it can be assumed that the driver is still driving the vehicle safely despite the absent-minded gaze, since the driving behavior corresponds exactly to what is expected as a result of the detected/present obstacle.

The situation is different with the proposed solution according to the invention, in which a faulty function is counteracted or safely prevented with a modified logic.

In a method proposed according to the invention with modified logic, a faulty function is prevented because a warning message is only suppressed if, in addition to the “feature” “that the driver has accidentally / absentmindedly directed his gaze at the current road trajectory and is drifting off the road”, another criterion must be met.

In the method according to the invention, a warning message is consequently NOT suppressed if there is NO obstacle at all or NO warning message regarding an obstacle for the section of road currently being traveled. In this case, a warning message must not be suppressed because there is no reason for drifting (is a warning message appropriate/necessary) and it is therefore a real danger.

Suppression of a warning message is only permissible if the driver accidentally/absentmindedly focuses his gaze on the current road trajectory and drifts off the road, and there is ONE obstacle or ONE warning message regarding an obstacle for the section of road currently being driven on, since in this case it can be assumed that the driver is still driving the vehicle safely despite the absent-minded gaze, since the driving behavior corresponds exactly to what is expected as a result of the detected/present obstacle.

Claims (3)

Method for a lane assistance function for the situation-appropriate warning of a driver when the vehicle leaves the lane and/or drifting out of the lane is predicted, using and taking into account route-relevant obstacles as a criterion, comprising at least a) an environment detection system directed in the direction of the driving trajectory ahead, and b) an optical detection system located inside the vehicle, designed for an eye-tracking function of the driver, characterized in that c) whenever the vehicle leaves the lane and/or drifting out of the lane is predicted, d) a signal is issued to support and/or warn the driver, e) however, in deviation from this, no signal is issued to support and/or warn the driver when f) the vehicle leaves the lane and/or drifting out of the lane is predicted, and g) in a temporal connection with this event, a possible reason for the departure and/or predicted drifting from the lane is determined, and h) the eye tracking function detects that the driver has directed his gaze in the direction in which the vehicle is leaving the lane and/or a drifting from the lane is predicted, whereby the possible reason for the departure and/or drifting from the lane is determined from the detection of a route-relevant obstacle by the environment detection system directed in the direction of travel or by an additional environment detection system, and a route-relevant obstacle detected by the environment detection system directed in the direction of travel or by an additional environment detection system is only used as a criterion and taken into account if the original driving trajectory would represent a collision course with the obstacle, whereby the possible reason for the departure and/or drifting from the lane is determined from a large reduction in speed and/or a steering torque input by the driver, whereby the large reduction in speed and/or a steering torque input is only used as a possible reason and taken into account if this action/s was/are initiated by the driver, whereby the possible reason for the departure and/or drifting out of the lane is determined from the existence of a route-relevant TCM accident report and/or a Car-to-X accident report, and whereby an existing route-relevant TCM accident report and/or c2x accident report is only used and taken into account as a criterion if it corresponds to the section of the route currently being traveled by the vehicle. Lane assistance device for the situation-appropriate warning of a driver of a departure and/or predicted drifting of the vehicle from the lane, comprising at least a) an environment detection system directed in the direction of the driving trajectory ahead, and b) an optical detection system located inside the vehicle, designed for an eye-tracking function of the driver, and c) an evaluation device for evaluating data from the environment detection system, the optical detection system located inside the vehicle, vehicle sensor data, TCM data, car-to-X data and/or additional environment detection systems, characterized in that the evaluation device is designed to d) always when the vehicle leaves the lane and/or drifting from the lane is predicted, e) to output a signal to support and/or warn the driver, whereby f) however, in deviation from this, no signal to support and/or warn the driver is output when g) the vehicle leaves the lane and/or a drifting out of the lane is predicted, and h) a possible reason for the departure and/or predicted drifting out of the lane is determined in a temporal connection with this event, and i) the eye tracking function detects that the driver has directed his gaze in the direction in which the vehicle leaves the lane and/or a drifting out of the lane is predicted, whereby the possible reason for the departure and/or drifting out of the lane is determined from the detection of a route-relevant obstacle by the environmental detection system directed in the direction of travel or by an additional environmental detection system, and a route-relevant obstacle detected by the environmental detection system directed in the direction of travel or by an additional environmental detection system is only used as a criterion is used and taken into account if the original driving trajectory would represent a collision course with the obstacle, whereby the possible reason for the departure and/or drifting out of the lane is determined from a large reduction in speed and/or an application of steering torque by the driver, whereby the large reduction in speed and/or an application of steering torque is only used and taken into account as a possible reason if this action/s was/are initiated by the driver, whereby the possible reason for the departure and/or drifting out of the lane is determined from the presence of a route-relevant TCM accident report and/or a Car-to-X accident report, and whereby an existing route-relevant TCM accident report and/or c2x accident report is only used and taken into account as a criterion if it corresponds to the section of the route currently being traveled by the vehicle. Motor vehicle equipped with a lane assist device according to claim 2 .

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